Template for handling data related to a second order linear DC motor model. More...

#include <actuators/dc-temp-non-linear-motor-model.hpp>

Inheritance diagram for ActuatorDCTempNonLinearMotorData< Scalar_ >:

Collaboration diagram for ActuatorDCTempNonLinearMotorData< Scalar_ >:

Public Types
enum	InternalParameters { P_ROTOR_INERTIA =6, P_TORQUE_CST, P_SPEED_TORQUE_GRD, P_BACK_EMF, P_THONE_RESISTOR, P_THTWO_RESISTOR, P_TA_RESISTOR, P_MAX_PERM_WINDING_T, P_THERM_TIME_CST_WINDING, P_AMBIANT_TEMP }

typedef Scalar_	Scalar_t

typedef Eigen::Matrix< Scalar_, 13, 1 >	Parameters_t

typedef Eigen::Matrix< Scalar_, 3, 1 >	Observations_t

typedef Eigen::Matrix< Scalar_, 6, 1 >	S_t

typedef Eigen::Matrix< Scalar_, 2, 1 >	X_t

typedef Eigen::Matrix< Scalar_, 2, 1 >	dX_t

typedef Eigen::Matrix< Scalar_, 1, 1 >	U_t

Public Member Functions
const Observations_t &	h () const
	Return observation vector.

const Parameters_t &	c () const
	Return parameters.

const S_t &	S () const
	Returns selection matrix.

Scalar_	getMaxPermissibleOverloadForONTime (Scalar_ aDuration)
	Returns the maximum overload possible for a given duration. Implements \[ K = \sqrt{\frac{1}{1 - exp\left[-\frac{t_{on}}{\tau_W}\right] }} \] .

Scalar_	getOverloadForCurrent (Scalar_ aCurrent, Scalar_ TS)
	Returns the overload for a given motor current and the current stator temperature ( \( T_S \)) Implements \[ K = \frac{I_{mot}}{I_N} \sqrt{ \frac{T_{max} -T_{A}}{T_{max}-T_S} \frac{R_{th1}}{R_{th1}+R_{th2}} } \] .

Scalar_	getMaxONTimeForK (Scalar_ aK)
	Returns the maximum ON time at a given overload factor K Implements \[ t_{on} = \tau_{W} ln \frac{K^2}{K^2-1} \] .

Scalar_	getMaxCurrentForK (Scalar_ aK)
	Returns the maximum current \( I_{mot}\) at a given overload factor \( K\). Implements \[ I_{mot} = K I_n \sqrt{ \frac{T_{max}-T_S}{T_{max} -T_{A}} \frac{R_{th1}+R_{th2}}{R_{th1}} }\] .

Observations_t &	h ()


void	rotorInertia (Scalar_ c)
	Rotor inertia (kg/m2) - \( B_m \). More...

void	torqueConst (Scalar_ c)
	Torque constant (Nm/A) - \( K_m \).

void	speedTorqueGrad (Scalar_ c)
	Speed torque gradient (rads^-1/Nm) \( D_m \).

void	backEMF (Scalar_ c)
	Terminal Inductance (Henry) More...

void	resistorOne (Scalar_ c)
	Gearhead thermal resistance \( R_{th1} \) at ambient temperature units: K/W.

void	resistorTwo (Scalar_ c)
	Winding thermal resistance \( R_{th2} \) at ambient temperature units: K/W.

void	resistorTA (Scalar_ c)
	Winding resistance \( R_{ta} \) at ambient temperature units: Ohms.

void	maxPermissibleWindingTemp (Scalar_ c)
	Max. permissible winding temperature \( T_{max} \) catalog value units: C.

void	thermTimeCstWinding (Scalar_ c)
	Therm. time constant winding \( \tau_W \) units: seconds (s)

void	thermAmbient (Scalar_ c)
	Ambient temperature for the motor characteristics. Typically \( 25 C \).

void	setS (S_t &S)

Protected Member Functions
void	updateParameters ()
	Update the first three parameters of the actuators: More...

Protected Attributes
Observations_t	h_
	Observation variables.

Parameters_t	c_
	Vector parameters.

S_t	S_
	Selection matrix.

double	alpha_cu_
	Copper resistance.

Detailed Description

template<typename Scalar_>
class se3::ActuatorDCTempNonLinearMotorData< Scalar_ >

Template for handling data related to a second order linear DC motor model.

Template Parameters

Scalar_ {description}

Definition at line 142 of file dc-temp-non-linear-motor-model.hpp.

Member Function Documentation

void backEMF ( Scalar_ c )

inline

Terminal Inductance (Henry)

Back electro magnetic force constant \( K_b \) It is the inverse of the speed torque gradient constant ( \(k_N\)) in Maxon datasheet. More exactly the maxon datasheet gives rpm/V. So it is \(\frac{60}{ 2 \pi k_N)}\)

Definition at line 198 of file dc-temp-non-linear-motor-model.hpp.

References ActuatorDCTempNonLinearMotorData< Scalar_ >::c(), ActuatorDCTempNonLinearMotorData< Scalar_ >::c_, and ActuatorDCTempNonLinearMotorData< Scalar_ >::updateParameters().

void rotorInertia ( Scalar_ c )

inline

Rotor inertia (kg/m2) - \( B_m \).

Internal parameters of the actuator.

Definition at line 177 of file dc-temp-non-linear-motor-model.hpp.

References ActuatorDCTempNonLinearMotorData< Scalar_ >::c(), ActuatorDCTempNonLinearMotorData< Scalar_ >::c_, and ActuatorDCTempNonLinearMotorData< Scalar_ >::updateParameters().

void updateParameters ( )

inlineprotected

Update the first three parameters of the actuators:

\( c_9 = R_{TA} - \alpha_{Cu} T_A R_{TA} \)